SolvePnP

Syntax

Definition:

HRESULT SolvePnP(
    HRESULT              hrPrev,
    ITcVnContainer*      ipImagePoints,
    ITcVnContainer*      ipReferencePoints,
    TcVnMatrix3x3_LREAL& aCameraMatrix,
    TcVnArray8_LREAL&    aDistortionCoefficients,
    TcVnMatrix3x3_LREAL& aRotationMatrix,
    TcVnVector3_LREAL&   aTranslationVector,
    double&              fReprojError,
    ETcVnSolvePnPMethod  eMethod = SPM_ITERATIVE,
    bool                 bUseExtrinsicGuess = false
)

Parameters

Name	Type	Default	Description
hrPrev	HRESULT		HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)
ipImagePoints	ITcVnContainer*		Image points (ContainerType_Vector_TcVnPoint2_REAL, requires at least 4 points in the same order as in ipReferencePoints)
ipReferencePoints	ITcVnContainer*		Reference world points (ContainerType_Vector_TcVnPoint3_REAL, same number of points as in ipImagePoints)
aCameraMatrix	TcVnMatrix3x3_LREAL&		Camera matrix (e.g. computed with one of the CalibrateCamera functions)
aDistortionCoefficients	TcVnArray8_LREAL&		Lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6] (e.g. computed with one of the CalibrateCamera functions)
aRotationMatrix	TcVnMatrix3x3_LREAL&		Returns the rotation matrix
aTranslationVector	TcVnVector3_LREAL&		Returns the translation vector
fReprojError	double&		Returns the reprojection error
eMethod	ETcVnSolvePnPMethod	SPM_ITERATIVE	Solve PnP method
bUseExtrinsicGuess	bool	false	If true, the provided rotation matrix and translation vector are used as an initial guess for further optimization (only supported for the SPM_ITERATIVE method).

Return value

HRESULT

Required License

TC3 Vision Metrology 2D

System Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4024.59 or later	PC or CX (x64) with min. PL50, e.g. Intel 4-core Atom CPU	Tc3_Vision